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DatabaseViewer: set default stereo parameters instead of hard-coded ones

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@2002 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-11-14 19:07:06 +00:00
parent 502804076a
commit a52536e209
1 changed files with 5 additions and 5 deletions
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guilib/src/DatabaseViewer.cpp
+5 -5
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@@ -1133,7 +1133,7 @@ void DatabaseViewer::update(int value,
void DatabaseViewer::updateStereo(const Signature * data) void DatabaseViewer::updateStereo(const Signature * data)
{ {
if(ui_->dockWidget_stereoView->isVisible() && !data->getImageRaw().empty() && !data->getDepthRaw().empty() && data->getDepthRaw().type() == CV_8UC1) if(data && ui_->dockWidget_stereoView->isVisible() && !data->getImageRaw().empty() && !data->getDepthRaw().empty() && data->getDepthRaw().type() == CV_8UC1)
{ {
cv::Mat leftMono; cv::Mat leftMono;
if(data->getImageRaw().channels() == 3) if(data->getImageRaw().channels() == 3)
@@ -1152,7 +1152,7 @@ void DatabaseViewer::updateStereo(const Signature * data)
cv::Rect roi = Feature2D::computeRoi(leftMono, "0.03 0.03 0.04 0.04"); cv::Rect roi = Feature2D::computeRoi(leftMono, "0.03 0.03 0.04 0.04");
ParametersMap parameters; ParametersMap parameters;
parameters.insert(ParametersPair(Parameters::kGFTTMaxCorners(), "1000")); parameters.insert(ParametersPair(Parameters::kGFTTMaxCorners(), "1000"));
parameters.insert(ParametersPair(Parameters::kGFTTMinDistance(), "10")); parameters.insert(ParametersPair(Parameters::kGFTTMinDistance(), "5"));
Feature2D::Type type = Feature2D::kFeatureGfttBrief; Feature2D::Type type = Feature2D::kFeatureGfttBrief;
Feature2D * kptDetector = Feature2D::create(type, parameters); Feature2D * kptDetector = Feature2D::create(type, parameters);
kpts = kptDetector->generateKeypoints(leftMono, 0, roi); kpts = kptDetector->generateKeypoints(leftMono, 0, roi);
@@ -1174,8 +1174,8 @@ void DatabaseViewer::updateStereo(const Signature * data)
rightCorners, rightCorners,
status, status,
err, err,
cv::Size(21, 21), 4, cv::Size(Parameters::defaultStereoWinSize(), Parameters::defaultStereoWinSize()), Parameters::defaultStereoMaxLevel(),
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 20, 0.02)); cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, Parameters::defaultStereoIterations(), Parameters::defaultStereoEps()));
float timeFlow = timer.ticks(); float timeFlow = timer.ticks();
@@ -1192,7 +1192,7 @@ void DatabaseViewer::updateStereo(const Signature * data)
float disparity = leftCorners[i].x - rightCorners[i].x; float disparity = leftCorners[i].x - rightCorners[i].x;
if(disparity > 0.0f) if(disparity > 0.0f)
{ {
if(fabs((leftCorners[i].y-rightCorners[i].y) / (leftCorners[i].x-rightCorners[i].x)) < 0.1) if(fabs((leftCorners[i].y-rightCorners[i].y) / (leftCorners[i].x-rightCorners[i].x)) < Parameters::defaultStereoMaxSlope())
{ {
pcl::PointXYZ tmpPt = util3d::projectDisparityTo3D( pcl::PointXYZ tmpPt = util3d::projectDisparityTo3D(
leftCorners[i], leftCorners[i],